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WO2011010593A1 - Dispositif de commande de véhicule et dispositif de détection de rotation utilisé dans celui-ci - Google Patents

Dispositif de commande de véhicule et dispositif de détection de rotation utilisé dans celui-ci Download PDF

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Publication number
WO2011010593A1
WO2011010593A1 PCT/JP2010/061955 JP2010061955W WO2011010593A1 WO 2011010593 A1 WO2011010593 A1 WO 2011010593A1 JP 2010061955 W JP2010061955 W JP 2010061955W WO 2011010593 A1 WO2011010593 A1 WO 2011010593A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
output
rotation
pulse
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2010/061955
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English (en)
Japanese (ja)
Inventor
柴田清武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTN Corp
Original Assignee
NTN Corp
NTN Toyo Bearing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2009170761A external-priority patent/JP2011027448A/ja
Priority claimed from JP2009176182A external-priority patent/JP5566060B2/ja
Application filed by NTN Corp, NTN Toyo Bearing Co Ltd filed Critical NTN Corp
Priority to DE112010003022T priority Critical patent/DE112010003022T5/de
Priority to CN2010800329254A priority patent/CN102472768B/zh
Publication of WO2011010593A1 publication Critical patent/WO2011010593A1/fr
Priority to US13/353,846 priority patent/US8798906B2/en
Anticipated expiration legal-status Critical
Priority to IN796DEN2012 priority patent/IN2012DN00796A/en
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/443—Devices characterised by the use of electric or magnetic means for measuring angular speed mounted in bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed

Definitions

  • the present invention relates to a vehicle control device that performs automatic driving, automatic parking, driving assistance, parking assistance, etc. of a vehicle such as an automobile, a rotation detection device used therefor, and a bearing with a rotation detection device equipped with the rotation detection device.
  • An inter-vehicle distance sensor (laser radar) using laser light is known as a means for measuring the inter-vehicle distance and the distance between a vehicle and a road surface object. Using the measurement results such as the inter-vehicle distance, vehicle control for automatic driving and driving assistance is performed (Patent Document 1).
  • Patent Document 1 in the inter-vehicle distance sensor using laser light, the detection performance deteriorates due to dirt on the transmission / reception unit and bad weather. An error also occurs depending on the angle of the object with respect to the transmission / reception unit, the shape of the object, and the like.
  • the rotation detection device disclosed in Patent Document 2 when used for a vehicle control device, the behavior of the vehicle can be detected in detail by a multiplication signal, so that more advanced vehicle control can be performed.
  • the output signal resolution of the rotation detection device is different from the input signal resolution of the ABS control device used as a standard, the rotation detection device can be used as it is connected to a standard ABS control device. Can not.
  • a new ABS control device with improved input signal resolution is required. That is, in the ABS control device, the input data increases to the number of data multiplied by the conventional number of data.
  • the rotation of the wheel is detected by a rotation detection signal of 48 pulses per rotation, whereas when the multiplication number in the rotation detection device is 40, one rotation of the wheel is 1920. It is detected by a pulse rotation detection signal. For this reason, there is a problem that the input data to the ABS control device per unit time becomes enormous, especially in the high-speed rotation range, and the processing cannot be performed by the standard ABS control device or the processing becomes slow.
  • the rotation detection device 1 that detects the rotation speed of the wheel 21 and the rotation detection device 1
  • the vehicle movement amount detection means 16 that detects the movement amount of the vehicle 20 from the signal output from the vehicle 20 and the separation that measures the separation distance between the vehicle 20 and the object at a position that can be measured from the vehicle 20 without contact.
  • the distance measurement means 14 and the vehicle movement control means 17 for controlling the movement of the vehicle 20 using the separation distance detected by the separation distance measurement means 14 and the vehicle movement amount detected by the vehicle movement amount detection means 16.
  • the vehicle movement control means 17 is not only the separation distance that is the measurement result of the separation distance measurement means 14 but also the actually moved vehicle movement amount detected by the rotation detection device 1 and the vehicle movement amount detection means 16. Is used to control the vehicle 20.
  • the separation distance measuring means 14 has a degradation in detection performance due to contamination of the transmission / reception unit, bad weather, or an error in the measurement result due to the angle of the object with respect to the transmission / reception unit, the shape of the object, etc.
  • the vehicle control can be performed with high accuracy by using the vehicle movement amount based on the rotation detection.
  • the rotation detection device 1 preferably has a high resolution.
  • the rotation detection device 1 is provided on a rotation side wheel constituting the wheel bearing device 10 that supports the wheel 21, and an annular encoder 2 in which a plurality of detected poles arranged in the circumferential direction are equally arranged;
  • the encoder 2 includes a sensor 3 for detecting the detected pole, and a multiplying means 4 for multiplying the phase of the detected pole from the output of the sensor 3.
  • the vehicle movement amount detecting means 17 The movement amount of the vehicle 20 may be detected from the pulse output multiplied by the means 4.
  • the multiplication means 4 By providing the multiplication means 4 in this way, rotation detection with higher resolution than the arrangement pitch of the detection poles of the encoder 2 can be performed. By detecting rotation with high resolution, it is possible to detect the amount of movement of the vehicle with sufficient accuracy to compensate for the error caused by the separation distance measuring means 14. In addition, by installing the rotation detection device 1 on the wheel bearing, the rotation detection device 1 can be installed in a compact vehicle and with less increase in the number of assembly steps.
  • the encoder 2 is a magnetic encoder, the detection performance is hardly deteriorated due to dirt or the like as compared with the optical type, but it is difficult to reduce the arrangement pitch of the detection poles.
  • the necessary high resolution can be obtained by providing the multiplication means 4 as described above.
  • the separation distance measuring means 14 is preferably one that measures the separation distance from the object by an optical method.
  • this type of separation distance measuring means 14 for example, an inter-vehicle distance sensor is practically used using laser light such as a laser radar, and the detection accuracy is good, and such an inter-vehicle distance sensor can be used.
  • the separation distance as the measurement value of the separation distance measurement means 14 is calibrated by comparing the vehicle movement amount detected by the vehicle movement amount detection means 16 with the separation distance measured by the separation distance measurement means 14.
  • Calibration means 19 may be provided in the vehicle movement control means 17.
  • the travel distance detected by the rotation detection device 1 and calculated by the vehicle movement amount detection means 16 and the travel distance measured by the separation distance measurement means 14 that is, at the start and end of distance measurement.
  • comparing distance difference with the object
  • Two specific examples of comparison between the separation distance measured by the separation distance measurement means 14 during traveling and the traveling distance obtained from the rotation detection performed by the calibration means 19 will be given.
  • calibration is periodically performed, and the calibration result immediately before performed between the fixed object and the vehicle is used as it is. This method is possible if the dirt state of the separation distance measuring means 14 does not change abruptly.
  • the speed of the vehicle is changed intentionally (mechanically), and the distance change amount measured by the separation distance measuring means 14 from the preceding vehicle at that time and the rotation detecting device 1 (multiplication means 4).
  • This is a method for comparing and calibrating the distance variation obtained in (1). Since the speed of the vehicle can be seen with the rotation detection device 1 (multiplying means 4 may be used), the estimated movement amount and speed when the speed is not changed are calculated from the relationship between time and speed change. It is possible to obtain the difference in the movement amount when changing. Calibration is possible by comparing this distance with the distance change amount obtained by the separation distance measuring means 14 before and after the start of the speed change.
  • the multiplication means 4 when used for rotation detection, since an extremely small amount of rotation of the tire can be detected, calibration can be performed even if the speed change amount and change time are small.
  • the presence or absence of speed change of the preceding vehicle return to the speed before the speed change of the vehicle at the time of calibration, and if the distance change with the preceding vehicle at that time is the same as before the calibration, It is estimated that there is no speed change.
  • the multiplication means 4 is preferably provided.
  • the rotation detection device 1 is provided on a rotation side wheel constituting the wheel bearing device 10 that supports the wheel 20, and an annular encoder 2 in which a plurality of detected poles arranged in the circumferential direction are arranged equally.
  • the encoder 2 includes a sensor 3 for detecting the detected pole, and a multiplying means 4 for multiplying the phase of the detected pole from the output of the sensor 3.
  • the calibration means 19 is the multiplying means 4. The calibration is performed using the multiplied pulse output.
  • the vehicle movement control means 17 may perform vehicle control using the rotational speed detected by the rotation detection device 1 after the separation distance is measured by the separation distance measurement means 14.
  • the vehicle movement control means 17 may perform vehicle control using the separation distance detected by the separation distance measurement means after the separation distance measurement by the separation distance measurement means 14.
  • the measurement of the separation distance by the separation distance measuring means 14 is preferably performed by providing the calibration means 4. After obtaining the calibrated separation distance, the vehicle movement control means 17 performs the measurement. It is preferable to perform vehicle control.
  • the rotation detection device 1 is provided on a rotation side wheel constituting the wheel bearing device 10 that supports the wheel 21, and an annular encoder 2 in which a plurality of detected poles arranged in the circumferential direction are equally arranged; And a sensor 3 for detecting the detected pole of the encoder 2 and a multiplying means 4 for multiplying the phase of the detected pole from the output of the sensor 3, and measuring the separation distance by the separation distance measuring means 14. Subsequent vehicle control is performed using the pulse output multiplied by the multiplication means 4.
  • the rotation detection device 1 is provided on a rotation side wheel constituting the wheel bearing device 10 that supports the wheel 21, and an annular encoder in which a plurality of detected poles arranged in the circumferential direction are equally arranged. 2, a sensor 3 for detecting the detected pole of the encoder 2, a multiplying means 4 for multiplying the phase of the detected pole from the output of the sensor 3, and an output of the multiplying means 4, or
  • the vehicle movement control means 17 is provided with the pulse output means 5 which receives the output of the multiplication means 4 and the detection output of the sensor 3 and outputs at least two kinds of pulses having different magnifications.
  • the movement control of the vehicle may be performed using the pulses of at least two kinds of magnifications output by 5.
  • rotation pulses with two or more types of resolution are output, when the rotation detection device 1 performs a plurality of types of control, it is possible to use a rotation pulse with a resolution according to the control purpose.
  • a high-resolution rotation pulse for the control of the traveling speed of the vehicle and the control of the stop position in the case of automatic driving and automatic parking.
  • anti-lock brake system control a very high rotation detection accuracy is not required, and the standard anti-lock brake system is provided so that the resolution of its input pulse is low.
  • the capacity of the conventional ECU will be exceeded, and the conventional standard anti-lock brake system cannot be used.
  • two or more types of resolution rotation pulses are output, appropriate control can be performed using the resolution rotation pulses according to the control purpose.
  • the rotation detection signal can be processed even by a processing control device having a standard input signal resolution. That is, when this rotation detection device is mounted on a wheel bearing, for example, and used for wheel rotation detection, if the signal processing capability of the vehicle ABS control device, which is a processing control device, is standard, high-resolution rotation during high-speed running When a pulse is input, the ABS control device cannot process the input signal or the processing is delayed.
  • a standard ABS control device can provide sufficient signals by adopting a method of use in which a low-magnification rotation pulse is selected and input during high-speed driving and a high-magnification rotation pulse is selected and input during low-speed driving. Processing is possible.
  • the rotation detection device 1 is provided on a rotation side wheel constituting a wheel bearing device that supports the wheel, and an annular encoder 2 in which a plurality of detected poles arranged in the circumferential direction are arranged equally.
  • the sensor 3 for detecting the detected pole of the encoder 2, the multiplying means 4 for multiplying the phase of the detected pole from the output of the sensor 3, and the output of the multiplying means 4 are inputted or multiplied.
  • the vehicle movement control means 17 includes a pulse output means 5 for receiving at least two kinds of pulses having different magnifications upon receiving the output of the means 4 and the detection output of the sensor 3.
  • the movement control of the vehicle is performed by using the at least one magnification pulse to be output, and the ABS control (control of the antilock brake system) is performed by the other magnification pulse. It may be.
  • the pulse output means 5 for outputting two types of pulses with different magnifications it is preferable that the pulse with the lowest magnification to be output is the same as the number of pulses output by the sensor 3.
  • Many standard antilock brake systems respond to unmultiplied pulses, and by using the same number of pulses output from the sensor 3, many of the conventional standard antilock brake systems can be used. .
  • At least one type of magnification pulse output by the means may be a phase difference signal of A phase and B phase having different phases.
  • the vehicle movement control means 17 includes a traveling direction front / rear determination unit 23 that determines whether the vehicle moving direction is the front / rear direction by using phase difference signals of A phase and B phase that are 90 degrees different in phase difference. It is good as a thing. According to the phase difference signals of phase A and phase B that are 90 degrees out of phase with each other, the rotational direction can be detected, and the vehicle traveling direction can be determined by the traveling direction front-rear determining means 23. Thereby, appropriate vehicle control can be performed also in parking control or the like.
  • the vehicle control performed by the vehicle movement control means 17 may be an automatic driving that travels forward.
  • highly reliable automatic driving can be performed by highly accurate detection using a separation distance from an object such as an inter-vehicle distance and an actual travel distance by rotation detection.
  • the vehicle control performed by the vehicle movement control means 17 may be automatic parking in which the vehicle is parked at the target position. Even in the case of automatic parking, appropriate parking can be performed by accurate detection using the separation distance from the object and the actual travel distance by rotation detection.
  • the rotation detecting device 1 includes a multiplying unit 4 that multiplies the phase of the detected pole from the output of the sensor 3, and at least two kinds of pulses having different magnifications when the output of the multiplying unit 4 is input. Among the pulses output from the pulse output means 5 according to the rotational speed detected by the speed detection means 37, and the speed detection means 37 for detecting the rotational speed of the rotating body. And a pulse selection output means 38 for selecting and outputting pulses having a magnification of.
  • a multiplying pulse with a high magnification obtained by multiplying the phase in the detected pole of the encoder 2 is output from the multiplying means 4, and the pulse output means 5 based on the multiplied pulse rotates at least two types having different magnifications.
  • a pulse is output.
  • the pulse selection output means 38 selects and outputs one type of magnification pulse among the pulses output from the pulse output means 5 in accordance with the rotational speed of the rotating body to be detected detected by the speed detection means 37. Yes. Therefore, the detection resolution can be selected in accordance with the rotation speed of the rotating body, and the rotation detection signal can be processed even by a processing control device having a standard input signal resolution, so that highly accurate rotation detection can be performed.
  • the pulse selection output means 38 selects and outputs a high-magnification pulse when the rotation speed detected by the speed detection means 37 is low, and outputs a low-magnification pulse when the rotation speed is high. It may be selected and output. In the case of this configuration, the number of output pulses per unit time can be reduced without being influenced by the rotational speed. Therefore, a vehicle control device such as an ABS control device that inputs and processes the output pulses is a conventional standard. Even if the input signal resolution is high, it can be adequately supported.
  • the pulse output means 5 is capable of continuously changing the magnification of the pulse to be output
  • the pulse selection output means 38 is a pulse having a magnification according to the rotational speed detected by the speed detection means 37. May be continuously selected and output.
  • the output pulse magnification can be finely selected in accordance with the change in rotational speed.
  • the speed detecting means 37 may detect the rotational speed from the output of a sensor different from the sensor.
  • a magnification changing means 7 for changing the magnification setting of the pulse output from the pulse output means 5 from the outside may be provided.
  • the encoder 2 may be one, and the detection output of the sensor 3 for detecting the detected pole of the encoder 2 may be input to the multiplication means 4.
  • the multiplication means 4 In the case of this configuration, it is not necessary to provide two types of sensors to simultaneously output a high resolution (high magnification) rotation pulse and a low resolution (low magnification) rotation pulse, thereby suppressing an increase in space and weight. Can do.
  • the encoder 2 may be a magnetic encoder.
  • the sensor 3 is composed of line sensors 3A and 3B in which sensor elements are arranged along the direction in which the detected poles of the encoder 2 are arranged, and outputs a two-phase sinusoidal signal by calculation,
  • the phase in the detection pole may be detected.
  • the distortion of the detected pole pattern and the influence of noise are reduced, so that the phase of the encoder 2 can be detected with high accuracy.
  • the bearing with a rotation detection device of the present invention is obtained by incorporating the rotation detection device of the present invention into a bearing.
  • the detection resolution can be selected according to the rotational speed of the rotating body to be detected, and the rotation detection signal can be processed even by a processing control device having a standard input signal resolution.
  • the detection resolution can be selected according to the vehicle speed, and the rotation detection signal can be processed even by an ABS control device having a standard input signal resolution.
  • the bearing may be a wheel bearing for supporting a driven wheel, and the sensor may be covered with a cap.
  • intrusion of muddy water from the outside can be prevented, and the reliability of the rotation detection device can be improved.
  • the bearing is a wheel bearing for driving wheel support, and a bearing end portion of a bearing space formed between an outer member and an inner member which are relatively rotatable via a rolling element is sealed.
  • the sensor may be provided at a position inside the bearing with respect to the seal. Also in this configuration, entry of muddy water from the outside can be prevented, and the reliability of the rotation detecting device can be improved.
  • (A) is a half sectional view showing a configuration example of an encoder in the rotation detection device, and (B) is a perspective view of the encoder.
  • (A) is a half sectional view showing another configuration example of the encoder in the rotation detection device, and (B) is a perspective view of the encoder.
  • It is explanatory drawing which shows an example of the internal structure of the sensor in the rotation detection apparatus, and its output waveform example.
  • FIG. 1 It is a block diagram which shows schematic structure of the sensor unit in the rotation detection apparatus 1 of the vehicle control apparatus which concerns on 3rd Embodiment of this invention. It is sectional drawing which shows the wheel bearing with a rotation detection apparatus in the vehicle control apparatus which concerns on 4th Embodiment of this invention. It is the side view which looked at the wheel bearing with the same rotation detection device from the inboard side. It is sectional drawing which shows the wheel bearing with a rotation detection apparatus in the vehicle control apparatus which concerns on 5th Embodiment of this invention. It is the side view which looked at the wheel bearing with the same rotation detection device from the inboard side. It is a block diagram which shows schematic structure of the rotation detection apparatus in the vehicle control apparatus which concerns on 6th Embodiment of this invention.
  • the vehicle control device includes a rotation detection device 1 that detects the rotation speed of the wheel 21, and a vehicle movement amount detection unit that detects a movement amount of the vehicle 20 from a signal output from the rotation detection device 1.
  • a separation distance measuring means 14 for measuring a separation distance between the vehicle 20 and an object at a position measurable from the vehicle 20 in a non-contact manner, and a separation distance detected by the separation distance measuring means 14
  • vehicle movement control means 17 for controlling the movement of the vehicle 20 using the vehicle movement amount detected by the vehicle movement amount detection means 16.
  • the vehicle 20 is a passenger car, a truck, or other automobiles.
  • the vehicle 20 is provided with an in-vehicle ECU 15 that is an electric control unit for controlling the entire vehicle, and the separation distance measuring means 14 and the vehicle movement amount detecting means 16 are provided as a part of the in-vehicle ECU 15. Yes.
  • the in-vehicle ECU 15 is composed of a computer and a program executed by the computer, and the in-vehicle ECU 15 is connected to each rotation detection device 1 and the separation distance measuring means 14 by a wiring that becomes an in-vehicle LAN 27.
  • the separation distance measuring means 14 is preferably one that measures the separation distance from the object by an optical method.
  • this type of separation distance measuring means 14 for example, an inter-vehicle distance sensor is practically used using laser light such as a laser radar, and the detection accuracy is good, and such an inter-vehicle distance sensor can be used.
  • the separation distance measuring means 14 may be constituted by a camera using a solid-state imaging device or the like and a means for processing the captured image. Only one separation distance measuring means 14 may be provided at the front portion or the like of the vehicle 20, but one unit is provided at the front portion and the rear portion of the vehicle 20 in this embodiment.
  • the front separation distance measuring means 14 is an inter-vehicle distance sensor using laser light
  • the rear separation distance measuring means 14 is composed of a camera and an image processing means.
  • the wheel bearing that supports each wheel 21 of the vehicle 20 is a bearing 10 with a rotation detection device equipped with the rotation detection device 1, and the output of the rotation detection device 1 of each of the bearings 10 with the rotation detection device is an output of the in-vehicle ECU 15. It is input to the vehicle movement amount detection means 16 via an input unit (not shown).
  • all the wheel bearings serving as the front wheel shown in the upper part of FIG. 1 and the rear wheel shown in the lower part are the bearings 10 with the rotation detecting device.
  • the bearing may be the bearing 10 with a rotation detection device.
  • the front wheels may be drive wheels
  • the rear wheels may be driven wheels
  • the front wheels may be driven wheels
  • the rear wheels may be drive wheels
  • the vehicle movement amount detection means 16 may detect the movement amount of the vehicle 20 from the output of the rotation detection device 1 in all the bearings 10 with the rotation detection device of the vehicle 20, for example, only the front wheel or the rear
  • the vehicle movement amount may be detected from the output of the rotation detection device 1 of only the wheel, only the driving wheel, only the driven wheel, or only one bearing 10 with the rotation detection device.
  • FIG. 3 shows an example of the bearing 10 with the rotation detection device.
  • the side closer to the outside in the vehicle width direction when attached to the vehicle is referred to as the outboard side, and is referred to as the inboard side that is the center side in the vehicle width direction.
  • FIG. 4 shows a side view of the wheel bearing 10 as seen from the inboard side.
  • This bearing 10 with a rotation detection device has a double-row rolling element 53 interposed between an outer member 51 and an inner member 52, and supports the wheel rotatably with respect to the vehicle body.
  • the detection device 1 is equipped.
  • the outer member 51 is a fixed member
  • the inner member 52 is a rotating member.
  • the rolling elements 53 of each row are held by the cage 54 for each row, and are formed on the outer circumference of the inner row 52 and the double row rolling surfaces 55 formed on the inner circumference of the outer member 51. Further, it is interposed between the double row rolling surfaces 56.
  • These wheel bearings are of a double row angular contact ball bearing type, and the rolling surfaces 55, 55, 56, 56 of both rows are formed such that the contact angles are back to back.
  • the example of FIG. 3 is a so-called third generation type, and is an example applied to driving wheel support.
  • the inner member 52 includes two members, a hub wheel 57 and an inner ring 58 fitted to the outer periphery of the inboard side portion of the shaft portion 57a of the hub wheel 57.
  • the rolling surfaces 56 of each row are formed on the outer periphery of 58.
  • the shaft portion 57a of the hub wheel 57 has a center hole 57c through which a stem portion (not shown) of a constant velocity joint is inserted.
  • the inner ring 58 is fitted into a stepped portion formed in the shaft portion 57a of the hub wheel 57, and is fixed to the hub wheel 57 by a crimping portion 57aa provided at the inboard side end of the shaft portion 57a.
  • the hub wheel 57 has a wheel mounting flange 57b on the outer periphery in the vicinity of the end portion on the outboard side, and a wheel and a brake rotor (both not shown) are attached to the wheel mounting flange 57b by a hub bolt 59.
  • the hub bolt 59 is press-fitted into a bolt mounting hole provided in the wheel mounting flange 57b.
  • the outer member 51 is an integral member as a whole, and has a vehicle body mounting flange 51b on the outer periphery.
  • the outer member 51 is attached to a knuckle (not shown) of the suspension device by a knuckle bolt inserted through the bolt insertion hole 60 of the vehicle body attachment flange 51b. Both ends of the bearing space between the outer member 51 and the inner member 52 are sealed by sealing devices 61 and 62 made of contact seals or the like.
  • the rotation detection device 1 includes an annular encoder 2 and a sensor unit 13.
  • the encoder 2 is a magnetic encoder in which a ring-shaped multipolar magnet 2 a having alternating magnetic poles N and S in the circumferential direction is attached to a ring-shaped cored bar 12. It is. Adjacent magnetic poles N and S constitute a magnetic pole pair 2aa as one detected pole.
  • the multipolar magnet 2a is composed of a magnet piece obtained by processing a magnet member such as a rubber magnet, a plastic magnet, a sintered magnet, or a ferrite.
  • the cored bar 12 has an L-shaped cross section composed of a cylindrical portion 12a and a standing plate portion 12b, and a multipolar magnet 2a is attached to the outer surface of the standing plate portion 12b.
  • the sensor 3 of the sensor unit 13 is a magnetic sensor, and faces the multipolar magnet 2a of the magnetic encoder 2 in the axial direction.
  • the magnetic encoder 2 and the sensor 3 may face each other in the radial direction as shown in FIG. 6, for example.
  • the magnetic encoder 2 also serves as a slinger that is a component of the sealing device 61 on the inboard side, and is fitted to the outer periphery of the end of the inner ring 58 on the inboard side.
  • the sensor unit 13 is attached to the inboard side end of the outer member 51 via a sensor attachment member 72.
  • the sensor mounting member 72 is a ring-shaped metal plate that fits on the outer peripheral surface of the outer member 51 and contacts the end surface, and has a sensor mounting piece 72a for mounting the sensor unit 13 in a part of the circumferential direction. Yes.
  • a cable 8A is pulled out from the sensor unit 13.
  • the circuit configuration of the sensor unit 13 is shown in FIG.
  • a sensor unit 13 detects a detected pole of the magnetic encoder 2, and generates a multiplied pulse b by multiplying the phase in the detected pole by a multiplication number N from the output of the sensor 3.
  • the multiplication means 4 and the pulse output means 5 for outputting two or more kinds of rotation pulses having different magnifications based on the multiplication pulse b output from the multiplication means 4 are provided.
  • the sensor 3 is a magnetic sensor.
  • the multiplication number N output from the multiplication means 4 is, for example, about 10 to 40 times, such as 10 times, 20 times, or 40 times.
  • the pulse output means 5 has a plurality of output terminals for outputting rotation pulses having a plurality of types of magnifications.
  • the pulse output means 5 sets the rotation pulse having the lowest magnification among the plurality of rotation pulses to be output to a pulse having the same cycle as that of the pulse output from the sensor 3.
  • the pulse output means 5 may output the 1-fold rotation pulse from the multiplication pulse b input from the multiplication means 4, or the pulse output means from the sensor 3 without the multiplication means 4. 5 may be provided with means for outputting a pulse directly inputted.
  • the 1 ⁇ rotation pulse signal output from the pulse output means 5 is used for control of the antilock brake system 28a. Since generally manufactured anti-lock brake systems do not support high-accuracy pulse output, in order to enable such general anti-lock brake systems to be used, the above-mentioned rotation pulse signal of 1 times is output. I am doing so.
  • the sensor 3, the multiplication unit 4, and the pulse output unit 5 are provided as one integrated circuit 8 such as an IC chip, or the sensor 3, the multiplication unit 4, and the pulse output unit 5 on one wiring board. Circuit components such as an integrated circuit constituting each of the above are mounted. Thereby, the rotation detector 1 can be mounted compactly on a wheel bearing or the like, and the weight can be reduced.
  • the sensor 3 includes line sensors 3A and 3B and an operational amplifier 30 as shown in FIG.
  • the line sensors 3 ⁇ / b> A and 3 ⁇ / b> B are configured by arranging a plurality of magnetic sensor elements 3 a so as to be aligned along the arrangement direction of the magnetic poles of the magnetic encoder 2.
  • the operational amplifier 30 includes a plurality of adder circuits 31, 32, 33, 34 and an inverter 35.
  • FIG. 7A shows a section of one magnetic pole of the magnetic encoder 2 converted into a magnetic field strength and shown in a waveform diagram.
  • the first line sensor 3A is arranged in association with the 90-degree phase section of the 180-degree phase section in FIG.
  • the second line sensor 3B is the remaining 90-degree phase section. It is arranged in association with.
  • the signal S1 obtained by adding the detection signal of the first line sensor 3A by the addition circuit 31 and the signal S2 obtained by adding the detection signal of the second line sensor 3B by the addition circuit 32 are added separately.
  • a sin signal corresponding to the magnetic field signal as shown in FIG. 7C is obtained.
  • the signal S1 and the signal S2 via the inverter 35 are added by another adding circuit 34 to obtain a cos signal corresponding to the magnetic field signal as shown in FIG. The position in the magnetic pole can be detected from the two-phase output signal thus obtained.
  • the sin signal is referred to as an A-phase signal
  • the cos signal is referred to as a B-phase signal.
  • the magnetic sensors 2 are arranged apart from each other in the arrangement direction of the magnetic poles so that the phase difference is 90 degrees ( ⁇ / 4).
  • the magnetic pole phase ( ⁇ tan -1 (sin ⁇ / cos ⁇ )) is multiplied from the two-phase signals (sin ⁇ , cos ⁇ ) obtained by these two magnetic sensor elements. It is good also as what calculates.
  • the multiplication unit 4 in this case includes a signal generation unit 41, a sector detection unit 42, a multiplexer unit 43, and a fine interpolation unit 44.
  • the signal generation means 41 has the same amplitude A 0 and the same average value C 0 from the two-phase signal sin, cos which is the output of the magnetic sensor 3, and m is a positive integer less than n, i as 1 ⁇ 2 m-1 positive integer, one after another and different in phase by 2 ⁇ / 2 m-1 with each other, a means for outputting the 2 m-1 pieces of signal s i.
  • the sector generating means 42 is m digital signals b n ⁇ m + 1 , b n ⁇ m + 2 ,..., B n ⁇ 1 encoded so as to define 2 m equal sector P i. , B n are generated by detecting 2 m sectors P i divided by 2 m ⁇ 1 signals s i .
  • the multiplexer means 43 is controlled by the m digital signals b n-m + 1 , b n-m + 2 ,..., B n ⁇ 1 , b n generated from the sector generating means 42,
  • the 2 m-1 signals s i output from the means 41 are processed, and the average value C 0 and the first threshold value L 1 of the 2 m-1 signals s i having a series of amplitudes are processed.
  • One signal A constituted by a portion between the first threshold value L 1 of the series of 2 m ⁇ 1 signals s i and a second value higher than this threshold value. of an analog means for outputting the other signal B constituted by a portion located between the threshold L 2.
  • Fine interpolation unit 44 in order to obtain the desired resolution, so as to subdivide each of the 2 m pieces of the sector P i of angle 2 [pi / 2 m into 2 nm pieces same sub sector angle 2 [pi / 2 n
  • the pulse output means 5 outputs at least two types of rotation pulses having different magnifications from the multiplied pulse b which is phase data in the detected pole (magnetic pole pair) 2aa inputted from the multiplying means 4. It is a means to output.
  • rotation pulses of three types of magnifications are simultaneously output from the high-resolution rotation pulse output units 6A and 6B and the normal pulse output unit 6EA.
  • the first high-resolution rotation pulse output unit 6A outputs, for example, a rotation pulse having a magnification ( ⁇ 20) as it is as the multiplication number N.
  • the position (phase) within one magnetic pole pair 2aa of the magnetic encoder 2 is detected by 20 rotation pulses.
  • the second high-resolution rotation pulse output unit 6B divides the multiplied pulse b and outputs a rotation pulse having a predetermined magnification ( ⁇ 10) lower than the multiplication number N, for example.
  • the normal pulse output unit 6EA further divides the multiplied pulse b, and outputs, for example, a 1 ⁇ magnification ( ⁇ 1) rotation pulse (one rotation pulse for one magnetic pole pair).
  • the pulse output means 5 may be provided with three or more high-resolution rotation pulse output units.
  • the rotation pulse having the lowest magnification that is, in the case of this embodiment, the rotation pulse of 1 ⁇ magnification ( ⁇ 1) is used in the next stage. It is converted into a current output by a voltage / current conversion circuit (not shown) provided in FIG. Specifically, a pulse signal having a current value of 7 mA and a pulse signal having a current value of 14 mA are alternately output as current outputs. Thereby, it can respond to the input signal form of the process control apparatus which processes the output signal of the rotation detection apparatus 1.
  • the vehicle movement amount detection means 16 detects the movement amount of the vehicle 20 from the signal output from the rotation detection device 1 as described above. Specifically, the vehicle movement amount is detected by the multiplied rotation pulse output from the pulse output means 5. The detection of the vehicle movement amount is performed by calculating the vehicle movement amount based on the tire diameter of the wheel 21 and the number of pulses obtained from the rotation detection device 1. When the outputs of a plurality of rotation detection devices 1 are used, the average value of the rotation pulses of each rotation detection device 1 may be used. You may make it correct
  • the vehicle movement control means 17 controls the movement of the vehicle 20 using the separation distance detected by the separation distance measurement means 14 and the vehicle movement amount detected by the vehicle movement amount detection means 16.
  • the movement control of the vehicle 20 by the vehicle movement control means 17 is, for example, automatic driving that travels forward or automatic parking in which the vehicle 20 is parked at the target position.
  • the vehicle movement control means 17 includes a travel control unit 24 and a parking control unit 25.
  • the travel control unit 24 controls automatic driving during the forward traveling, and the parking control unit 25 controls the automatic parking. Do.
  • the travel control unit 24 and the parking control unit 25 are started to control in response to an ON signal of a predetermined operation switch on the console, and are stopped by an OFF signal of the operation switch.
  • the vehicle movement control means 17 has a traveling method determination means 23 and a calibration means 19. Note that the travel control unit 24 and the parking control unit 25 do not necessarily perform automatic driving control, and may perform driving control support or parking support control.
  • Control of automatic driving by the traveling control unit 24 is, for example, follow-up control with respect to a preceding vehicle.
  • This follow-up control is control that keeps the distance between the preceding vehicle and the host vehicle constant, and basically the speed control mechanism 26 so that the separation distance detected by the separation distance measuring means 14 falls within a certain range.
  • This is a control to output an acceleration or deceleration command to.
  • the travel control unit 24 may further have a function of giving a braking command to the brake 28.
  • the speed control mechanism 26 is a throttle valve in an internal combustion engine vehicle such as a gasoline engine vehicle, and is a motor current control device in an electric motor vehicle.
  • the speed control mechanism 26 has speed control means 26a that performs electronic control, and outputs an acceleration / deceleration command of the traveling speed control unit 24 to the speed control means 26a.
  • the traveling control unit 24 detects the vehicle movement amount from the output of the rotation detection device 1 based on the separation distance detected by the inter-vehicle distance measuring means 14 when the inter-vehicle distance is controlled to be in a certain range as described above. By calibrating or correcting by the movement amount detection means 16, an accurate inter-vehicle distance is obtained and used for control.
  • the calibration means 19 performs the above calibration.
  • the calibration means 19 calibrates the separation distance as a measurement value of the separation distance measurement means 14 by comparing the vehicle movement amount detected by the vehicle movement amount detection means 16 with the separation distance measured by the separation distance measurement means 14. It is means to do.
  • the calibrating unit 19 is, for example, a traveling distance detected by the rotation detection device 1 and obtained by the vehicle movement amount detecting unit 16 and a traveling distance measured by the separation distance measuring unit 14 (that is, a distance measurement start) when traveling a certain distance. By comparing the difference in distance between the time and the object at the end), the separation distance that is the measurement value of the separation distance measuring means 14 is calibrated. Thereby, it can be calculated
  • the rotation detecting device 1 is provided on a rotating side wheel constituting the wheel bearing device that supports the wheel, and an annular encoder 2 in which a plurality of detected poles arranged in the circumferential direction are equally arranged.
  • the vehicle movement control means 17 includes the pulse output means 5 that receives the output of the multiplication means 4 and the detection output of the sensor 3 and outputs pulses of at least two different magnifications.
  • the movement control of the vehicle may be performed using the pulses of the at least one type of magnification output and the ABS control may be performed using the pulses of the other magnification.
  • the calibration means 19 can detect the travel distance with high accuracy. Therefore, the difference between the travel distance obtained by the vehicle movement amount detection means 16 and the travel distance measured by the separation distance measurement means 14 can be obtained with high accuracy, and highly accurate calibration can be performed.
  • the traveling control unit 24 calibrates the separation distance measured by the separation distance measuring means 14 in this way with the traveling distance obtained by the rotation detecting device 1 having the multiplication means 4 and the vehicle movement amount detecting means 16 and accurately obtained the distance. Thereafter, control such as follow-up control of the vehicle 20 is performed using the separation distance measured by the separation distance measuring unit 14, the travel distance detected by the vehicle movement amount detection unit 16, or both the separation distance and the travel distance.
  • the traveling control unit 24 may further have a steering control function in addition to the following control.
  • the steering amount is determined according to a setting rule (not shown) using the steering angle of the steering wheel output from the steering angle sensor 18 and the rotation pulse output from the rotation detection device 1, and the steering is performed. It outputs to the steering control means 27a of the mechanism 27.
  • the steering mechanism 27 is a mechanism that changes the direction of the steering wheel of the vehicle 20, and the steering control means 27a is a control means that operates the steering mechanism 27 in response to an input of a steering signal.
  • the parking control unit 25 is a means for performing automatic parking in which the vehicle 20 is moved and stopped so that the vehicle 20 becomes the target parking position and direction from the current position and direction.
  • the vehicle 20 is provided with a camera that images the periphery. This camera may constitute the separation distance measurement means 14 or may be provided separately from the separation distance measurement means 14.
  • the parking control unit 25 processes an image captured by the camera, determines a target parking position and parking direction from a line drawn to the parking target position, a surrounding wall, and the like, and determines from the current position and direction of the vehicle 20.
  • the travel speed and the steering amount for moving the vehicle so as to be the target parking position and parking direction are calculated according to setting rules (not shown), and the traveling speed is moved in the target parking position and parking direction.
  • a command for the traveling direction, and a command for the steering direction and the steering amount are output.
  • the distance from the target position of the current position of the vehicle is detected by the separation distance measuring means 14 at the start and in the middle of the automatic parking.
  • the parking control unit 25 uses the actual vehicle movement amount obtained by the rotation detection device 1 and the vehicle movement amount detection unit 16 as the distance measured by the separation distance measurement unit 14 such as the camera. Calibration is performed by the calibration means 19.
  • the separation distance can be detected with high accuracy, and the target position and direction can be accurately and efficiently parked.
  • the vehicle 20 In the parking control unit 25, the vehicle 20 often needs to switch between forward and backward, but the traveling direction of the vehicle 20 is performed using the traveling direction back-and-forth determination unit 23 provided in the vehicle movement control unit 17.
  • the rotation detection device 1 When the rotation detection device 1 outputs a phase difference signal of A phase and B phase whose phases are different from each other by 90 degrees as described above with reference to FIG. 7, the rotation direction can be detected by this phase difference signal.
  • the vehicle traveling direction can be determined.
  • the traveling direction front / rear determining means 23 determines the traveling direction of the vehicle from the phase difference signals of the A and B phases.
  • the vehicle control device having the above-described configuration, first, the distance from the object such as the preceding vehicle is grasped by the separation distance measuring means 14 such as a laser radar shown in FIG. Then, the movement amount of the vehicle 20 is detected by the high-resolution rotation detection device 1 having the multiplication means 4 (FIG. 2) and the vehicle movement amount detection means 16. Further, the actual travel distance obtained by the high-resolution rotation detection device 1 and the vehicle movement amount detection means 16 when traveling a fixed distance and the travel distance obtained by the separation distance measurement means 14 such as a laser radar (at the start and end of measurement). By comparing the difference in the distance between the objects, it is possible to accurately determine how far the object is from the distance compared to the conventional method. After obtaining the distance to the object as described above, the vehicle movement control means 17 uses the detection value of the high-resolution rotation detection device 1 or the detection value of the separation distance measurement means 14 such as a laser radar as described above. Perform vehicle control for automatic driving and automatic parking.
  • the separation distance measuring means 14 such as a laser
  • this vehicle control device by providing the multiplication means 4 in the rotation detection device 1 as described above, rotation detection with higher resolution than the arrangement pitch of the detection poles of the encoder 2 can be performed. By detecting rotation with high resolution, it is possible to detect the amount of movement of the vehicle with sufficient accuracy to compensate for the error caused by the separation distance measuring means 14. In addition, by installing the rotation detection device 1 on the wheel bearing, the rotation detection device 1 can be installed in a compact vehicle and with less increase in the number of assembly steps.
  • the encoder 2 is a magnetic encoder, the detection performance is hardly deteriorated due to dirt or the like as compared with the optical type, but it is difficult to reduce the arrangement pitch of the detection poles.
  • the necessary high resolution can be obtained by providing the multiplication means 4 as described above.
  • FIG. 10 is a block diagram showing a schematic configuration of a sensor unit in the rotation detection device 1B of the vehicle control device according to the second embodiment of the present invention.
  • this rotation detection device 1B as a rotation pulse output unit in the pulse output unit 5A, a high-resolution rotation pulse output unit 6A that outputs a high-resolution (high magnification) rotation pulse from the output of the multiplication unit 4, and a detection output of the sensor 3
  • the normal pulse output unit 6EA that outputs the pulse obtained from the above without passing through the multiplication means 4 is provided. From the high-resolution rotation pulse output unit 6A, for example, a rotation pulse with a magnification of 40 times ( ⁇ 40) is output.
  • the pulse obtained from the detection output of the sensor 3 is a pulse that outputs one pulse corresponding to one detected pole of the encoder 2.
  • the high-resolution rotation pulse output unit 6A another unit that outputs rotation pulses of other types of magnifications may be provided.
  • Other configurations are the same as those in the embodiment of FIG.
  • FIG. 11 is a block diagram showing a schematic configuration of a sensor unit in the rotation detection device 1C of the vehicle control device according to the third embodiment of the present invention.
  • this rotation detection device 1C in the embodiment of FIG. 10, as a high-resolution rotation pulse output unit that outputs a rotation pulse of at least one kind of magnification in the pulse output means 5B, A pair of high-resolution rotation pulse output units 6AA and 6AB that individually output B-phase rotation pulses are provided.
  • Other configurations are the same as those in the embodiment of FIG.
  • the rotation direction can be detected by outputting the phase difference signals of the A phase and the B phase whose phases are different from each other by 90 degrees as the rotation pulse signals having the same magnification.
  • this rotation detection device 1 is mounted on a wheel bearing of a vehicle, it is possible to detect forward / backward movement of the vehicle.
  • FIGS. 12 and 13 show the wheel bearing with a rotation detection device shown in FIGS. 3 and 4 for supporting a driven wheel, and the hub wheel 57 does not have a center hole, and is solid. It is said that.
  • the end portion on the inboard side of the outer member 51 extends in the axial direction from the inner member 52, and the end face opening is covered with a cap 74.
  • the cap 74 is fitted and attached to the inner periphery of the outer member 51 with a flange 74a provided on the outer peripheral edge.
  • the sensor portion 13 is attached to the cap 74 so as to face the magnetic encoder 2.
  • the rotation detection device main body is detachably provided using a bolt, a nut, or the like not shown.
  • the annular gap of the cap 74 that can be formed between the rotation detecting device main body is tightly sealed by the elasticity of the molding material (elastic member) that covers the sensor portion 13. It is configured to be.
  • the magnetic encoder 2 is fitted and attached to the outer periphery of the inner ring 58, and faces the rotation detection device 1 in the axial direction.
  • 14 and 15 show the inboard bearing space sealing device 61 arranged outside the magnetic encoder 2 in the wheel bearing with rotation detection device shown in FIGS. 3 and 4. That is, a sealing device 61 made of a contact seal or the like is provided between the annular sensor mounting member 72 attached to the outer member 51 and the inner ring 58.
  • a sealing device 61 made of a contact seal or the like is provided between the annular sensor mounting member 72 attached to the outer member 51 and the inner ring 58.
  • the magnetic encoder 2 is sealed with respect to the external space by the sealing device 61, and foreign matter is prevented from being caught between the magnetic encoder 2 and the sensor portion 13.
  • the magnetic encoder 2 is the same as that shown in FIG.
  • Other configurations and effects are the same as those of the embodiment of FIGS.
  • the rotation detection device 1D includes a speed detection unit 37 that detects the rotation speed of the rotating body to which the encoder 2 is attached, in addition to the encoder 2, the sensor 3, the multiplication unit 4, and the pulse output unit 5C. And a pulse selection output means 38 for selecting and outputting one type of rotation pulse among the rotation pulses output from the pulse output means 5C according to the rotation speed detected by the speed detection means 37.
  • magnification of the rotation pulse output from the pulse output means 5 is fixed to 20 times, 10 times, and 1 time. However, as indicated by a virtual line in FIG. It is also possible to change the magnification of the rotation pulse output by a command from the magnification changing means 7.
  • the speed detecting means 37 detects the rotational speed of the rotating body to be detected from the output of the magnetic sensor 3.
  • the magnetic sensor 3, the multiplication means 4, the pulse output means 5C, the speed detection means 37, and the pulse selection output means 11 are integrated and integrated in a common integrated circuit 8, and are selected by the pulse selection output means 38 to be one type.
  • the rotation pulse having the lowest magnification that is, in this embodiment, a magnification of 1 time.
  • the rotation pulse of ( ⁇ 1) is converted into a current output by the voltage / current conversion circuit 9 provided in the next stage. Specifically, a pulse signal having a current value of 7 mA and a pulse signal having a current value of 14 mA are alternately output as current outputs. Thereby, it can respond to the input signal form of the process control apparatus which processes the output signal of the rotation detection apparatus 1.
  • the voltage / current conversion circuit 9 is mounted on a printed circuit board (not shown) together with the integrated circuit 8 and is entirely covered with a molding material.
  • the mold material is, for example, a resin. Thereby, the waterproof and impact resistance of the rotation detector 1 can be ensured.
  • the multiplying pulse b having a high magnification obtained by multiplying the phase in the detected pole 2aa of the encoder 2 is output from the multiplying means 4, and in the pulse output means 5C based on the multiplied pulse b, Two or more types of rotation pulses with different magnifications are output, and further, rotation of one type of the rotation pulses output from the pulse output unit 5C according to the rotation speed of the rotating body to be detected detected by the speed detection unit 10. Since the pulse is selected and output by the pulse selection output means 38, the detection resolution can be selected according to the rotation speed of the rotating body, and the rotation detection signal can be processed even by a processing control device having a standard input signal resolution. High-precision rotation detection can be performed.
  • the pulse selection output means 38 selects a low-magnification rotation pulse during high-speed driving and inputs it to the ABS control device, and selects a high-magnification rotation pulse during low-speed driving.
  • each magnification is selected by a selection method in which a rotation pulse with a magnification of 40 times is selected in a speed range up to 40 km / h, and a rotation pulse with a magnification of 2 is selected in a speed range higher than that.
  • the rotation pulse can be selected according to the speed.
  • a rotation pulse with a magnification of 40 times is selected in the speed range up to 40 km / h
  • a rotation pulse with a magnification of 20 times is selected in the speed range of 40 to 80 km / h, and a speed range higher than that. Then, it is possible to select the rotation pulse of each magnification according to the speed by the selection method of selecting the rotation pulse having a magnification of 2 times.
  • the pulse selection output means 38 selects and outputs a rotation pulse with a high magnification when the rotation speed detected by the speed detection means 37 is low, and selects a rotation pulse with a low magnification when the rotation speed is high. Since the number of rotation pulses per unit time can be reduced without being influenced by the rotation speed, a processing control device such as an ABS control device that inputs and processes this rotation pulse is a conventional method. Even a standard input signal resolution can be adequately accommodated.
  • FIG. 17 is a block diagram showing a schematic configuration of the rotation detection device 1E in the vehicle control device according to the seventh embodiment of the present invention.
  • the speed detection means 37A detects the rotation speed of the rotating body to be detected from the output of a sensor (not shown) external to the magnetic sensor 3.
  • a rotation pulse output unit in the pulse output unit 5D a high-resolution rotation pulse output unit 6A (for example, magnification 40) that outputs a high-magnification rotation pulse from the output of the multiplication unit 4, and a high-resolution rotation that outputs a low-magnification rotation pulse It has a pulse output unit 6B.
  • Other configurations are the same as those of the sixth embodiment shown in FIG.
  • FIG. 18 is a block diagram showing a schematic configuration of the rotation detection device 1F in the vehicle control device according to the eighth embodiment of the present invention.
  • the high-resolution rotation pulse output unit 6D in the pulse output means 5E can continuously change the magnification of the rotation pulse (for example, 40 times to 2 times).
  • the pulse selection output means 38 continuously variably selects and outputs a rotation pulse having a magnification corresponding to the rotation speed detected by the speed detection means 37.
  • Other configurations are the same as those of the sixth embodiment shown in FIG. In the case of this embodiment, the output pulse magnification can be finely selected in accordance with the change in the rotational speed.
  • FIG. 19 is a block diagram showing a schematic configuration of the rotation detection device 1G in the vehicle control device according to the ninth embodiment of the present invention.
  • the A-phase rotation is 90 degrees different in phase as a high-resolution rotation pulse output unit that outputs a rotation pulse of at least one magnification in the pulse output means 5C.
  • a pair of high-resolution rotation pulse output units that individually output a pulse and a B-phase rotation pulse are provided.
  • a pair of high-resolution rotation pulse output units 6AA and 6AB (magnification 40) for outputting high-magnification A-phase / B-phase rotation pulses and a pair of low-magnification A-phase / B-phase rotation pulses are output.
  • High-resolution rotation pulse output units 6BA and 6BB are provided.
  • the pulse selection output means 38 outputs both A-phase and B-phase rotation pulses when selecting a high-magnification rotation pulse or when selecting a low-magnification rotation pulse. Therefore, the pulse selection output means 38 is provided with two output terminals for A phase and B phase.
  • Other configurations are the same as those of the sixth embodiment shown in FIG.
  • the rotation direction can be detected by outputting the phase difference signals of the A phase and the B phase whose phases are different from each other by 90 degrees as the rotation pulse signals having the same magnification.
  • this rotation detection device 1G is mounted on a wheel bearing of a vehicle, it is possible to detect forward / backward movement of the vehicle.
  • the sensor portion (portion in which the sensor 3 is embedded) 13 of the rotation detection device 1 ⁇ / b> G is attached to the inboard side end of the outer member 51 via a sensor attachment member 72.
  • the sensor mounting member 72 is a ring-shaped metal plate that fits on the outer peripheral surface of the outer member 51 and contacts the end surface, and has a sensor mounting piece 72a for mounting the rotation detection device 1 on a part of the circumferential direction. ing.
  • the detection resolution of the rotation detection devices 1D to 1G of FIGS. 16 to 19 can be selected according to the vehicle speed, so that the vehicle body that processes the output signals of the rotation detection devices 1D to 1G Even if the ABS control device of the ECU on the side is standard, the rotation detection signal can be processed. That is, if the signal processing capability of the ABS control device is standard, the input signal cannot be processed by the ABS control device when a high-resolution rotation pulse is input during high-speed driving, or the processing is delayed. If a high-speed rotation pulse is selected and input during low-speed driving, a standard ABS control device can sufficiently perform signal processing.
  • this wheel bearing 10 with a rotation detection apparatus is a 1st generation type

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  • Regulating Braking Force (AREA)

Abstract

La présente invention concerne un dispositif de commande de véhicule capable de reconnaître correctement l’écartement et de commander un véhicule avec une excellente fiabilité, même lorsqu’il existe des imprécisions ou en cas de baisse de la capacité de détection de mesures faites par un moyen de mesure d’écartement, qui mesure l’écartement entre des véhicules ou entre des véhicules et des objets physiques. La présente invention concerne un dispositif de détection de rotation (1) permettant de détecter la vitesse de rotation de roues ; et un moyen de détection d’une quantité de mouvement du véhicule (16) permettant de détecter la quantité de mouvement du véhicule au moyen d’un signal de sortie provenant du dispositif de détection de rotation (1). L’invention concerne également un moyen de mesure d’écartement (14), qui est un radar laser ou assimilé, pour une mesure sans contact de l’écartement entre un véhicule et un objet physique. Un moyen de commande du mouvement du véhicule (17) commande le mouvement d’un véhicule à l’aide de l’écartement détecté par le moyen de mesure d’écartement (14), et la quantité de mouvement du véhicule détecté par le moyen de détection de la quantité de mouvement du véhicule (16).
PCT/JP2010/061955 2009-07-22 2010-07-15 Dispositif de commande de véhicule et dispositif de détection de rotation utilisé dans celui-ci Ceased WO2011010593A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112010003022T DE112010003022T5 (de) 2009-07-22 2010-07-15 Fahrzeugsteuergerät und darin verwendetes Drehzahlerkennungsgerät
CN2010800329254A CN102472768B (zh) 2009-07-22 2010-07-15 车辆控制装置和其所采用的旋转检测装置
US13/353,846 US8798906B2 (en) 2009-07-22 2012-01-19 Vehicle control device and rotation detection device used in same
IN796DEN2012 IN2012DN00796A (fr) 2009-07-22 2012-01-27

Applications Claiming Priority (4)

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JP2009-170761 2009-07-22
JP2009170761A JP2011027448A (ja) 2009-07-22 2009-07-22 回転検出装置および回転検出装置付き軸受
JP2009-176182 2009-07-29
JP2009176182A JP5566060B2 (ja) 2009-07-29 2009-07-29 車両制御装置

Related Child Applications (1)

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US13/353,846 Continuation US8798906B2 (en) 2009-07-22 2012-01-19 Vehicle control device and rotation detection device used in same

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WO2011010593A1 true WO2011010593A1 (fr) 2011-01-27

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US (1) US8798906B2 (fr)
CN (1) CN102472768B (fr)
DE (1) DE112010003022T5 (fr)
IN (1) IN2012DN00796A (fr)
WO (1) WO2011010593A1 (fr)

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CN102472768B (zh) 2013-12-04
IN2012DN00796A (fr) 2015-06-26
US8798906B2 (en) 2014-08-05
DE112010003022T5 (de) 2012-08-02
US20120116664A1 (en) 2012-05-10

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